A neural fuzzy system with fuzzy supervised learning

A neural fuzzy system learning with fuzzy training data (fuzzy if-then rules) is proposed in this paper. This system is able to process and learn numerical information as well as linguistic information. At first, we propose a five-layered neural network for the connectionist realization of a fuzzy inference system. The connectionist structure can house fuzzy logic rules and membership functions for fuzzy inference. We use alpha-level sets of fuzzy numbers to represent linguistic information. The inputs, outputs, and weights of the proposed network can be fuzzy numbers of any shape. Furthermore, they can be hybrid of fuzzy numbers and numerical numbers through the use of fuzzy singletons. Based on interval arithmetics, a fuzzy supervised learning algorithm is developed for the proposed system. It extends the normal supervised learning techniques to the learning problems where only linguistic teaching signals are available. The fuzzy supervised learning scheme can train the proposed system with desired fuzzy input-output pairs which are fuzzy numbers instead of the normal numerical values. With fuzzy supervised learning, the proposed system can be used for rule base concentration to reduce the number of rules in a fuzzy rule base. Simulation results are presented to illustrate the performance and applicability of the proposed system.     

Supervised fuzzy reinforcement learning for robot navigation

This paper addresses a new method for combination of supervised learning and reinforcement learning (RL). Applying supervised learning in robot navigation encounters serious challenges such as inconsistent and noisy data, difficulty for gathering training data, and high error in training data. RL capabilities such as training only by one evaluation scalar signal, and high degree of exploration have encouraged researchers to use RL in robot navigation problem. However, RL algorithms are time consuming as well as suffer from high failure rate in the training phase. Here, we propose Supervised Fuzzy Sarsa Learning (SFSL) as a novel idea for utilizing advantages of both supervised and reinforcement learning algorithms. A zero order Takagi–Sugeno fuzzy controller with some candidate actions for each rule is considered as the main module of robot's controller. The aim of training is to find the best action for each fuzzy rule. In the first step, a human supervisor drives an E-puck robot within the environment and the training data are gathered. In the second step as a hard tuning, the training data are used for initializing the value (worth) of each candidate action in the fuzzy rules. Afterwards, the fuzzy Sarsa learning module, as a critic-only based fuzzy reinforcement learner, fine tunes the parameters of conclusion parts of the fuzzy controller online. The proposed algorithm is used for driving E-puck robot in the environment with obstacles. The experiment results show that the proposed approach decreases the learning time and the number of failures; also it improves the quality of the robot's motion in the testing environments.     

Evolutionary learning of a fuzzy controller for wall-following behavior in mobile robotics

The design of fuzzy controllers for the implementation of behaviors in mobile robotics is a complex and highly time-consuming task. The use of machine learning techniques such as evolutionary algorithms or artificial neural networks for the learning of these controllers allows to automate the design process. In this paper, the automated design of a fuzzy controller using genetic algorithms for the implementation of the wall-following behavior in a mobile robot is described. The algorithm is based on the iterative rule learning approach, and is characterized by three main points. First, learning has no restrictions neither in the number of membership functions, nor in their values. In the second place, the training set is composed of a set of examples uniformly distributed along the universe of discourse of the variables. This warrantees that the quality of the learned behavior does not depend on the environment, and also that the robot will be capable to face different situations. Finally, the trade off between the number of rules and the quality/accuracy of the controller can be adjusted selecting the value of a parameter. Once the knowledge base has been learned, a process for its reduction and tuning is applied, increasing the cooperation between rules and reducing its number.     

Adaptive Fuzzy Neural Networks as identifiers of discrete-time nonlinear dynamic systems

An adaptive supervised learning scheme is proposed in this paper for training Fuzzy Neural Networks (FNN) to identify discrete-time nonlinear dynamical systems. The FNN constructs are neural-network-based connectionist models consisting of several layers that are used to implement the functions of a fuzzy logic system. The fuzzy rule base considered here consists of Takagi-Sugeno IF-THEN rules, where the rule outputs are realized as linear polynomials of the input components. The FNN connectionist model is functionally partitioned into three separate parts, namely, the premise part, which provides the truth values of the rule preconditional statements, the consequent part providing the rule outputs, and the defuzzification part computing the final output of the FNN construct. The proposed learning scheme is a two-stage training algorithm that performs both structure and parameter learning, simultaneously. First, the structure learning task determines the proper fuzzy input partitions and the respective precondition matching, and is carried out by means of the rule base adaptation mechanism. The rule base adaptation mechanism is a self-organizing procedure which progressively generates the proper fuzzy rule base, during training, according to the operating conditions. Having completed the structure learning stage, the parameter learning is applied using the back-propagation algorithm, with the objective to adjust the premise/consequent parameters of the FNN so that the desired input/output representation is captured to an acceptable degree of accuracy. The structure/parameter training algorithm exhibits good learning and generalization capabilities as demonstrated via a series of simulation studies. Comparisons with conventional multilayer neural networks indicate the effectiveness of the proposed scheme.     

An ART-based fuzzy adaptive learning control network

This paper addresses the structure and an associated online learning algorithm of a feedforward multilayer neural net for realizing the basic elements and functions of a fuzzy controller. The proposed fuzzy adaptive learning control network (FALCON) can be contrasted with traditional fuzzy control systems in network structure and learning ability. An online structure/parameter learning algorithm, FALCON-ART, is proposed for constructing FALCON dynamically. It combines backpropagation for parameter learning and fuzzy ART for structure learning. FALCON-ART partitions the input state space and output control space using irregular fuzzy hyperboxes according to the data distribution. In many existing fuzzy or neural fuzzy control systems, the input and output spaces are always partitioned into “grids”. As the number of variables increases, the number of partitioned grids grows combinatorially. To avoid this problem in some complex systems, FALCON-ART partitions the I/O spaces flexibly based on data distribution. It can create and train FALCON in a highly autonomous way. In its initial form, there is no membership function, fuzzy partition, and fuzzy logic rule. They are created and begin to grow as the first training pattern arrives. Thus, the users need not give it any a priori knowledge or initial information. FALCON-ART can online partition the I/O spaces, tune membership functions, find proper fuzzy logic rules, and annihilate redundant rules dynamically upon receiving online data     

A trainable transparent universal approximator for defuzzificationin Mamdani-type neuro-fuzzy controllers

A novel technique of designing application specific defuzzification strategies with neural learning is presented. The proposed neural architecture considered as a universal defuzzification approximator is validated by showing the convergence when approximating several existing defuzzification strategies. The method is successfully tested with fuzzy controlled reverse driving of a model truck. The transparent structure of the universal defuzzification approximator allows us to analyze the generated customized defuzzification method using the existing theories of defuzzification. The integration of universal defuzzification approximator instead of traditional methods in Mamdani-type fuzzy controllers can also be considered as an addition of trainable nonlinear noise to the output of the fuzzy rule inference before calculating the defuzzified crisp output. Therefore, nonlinear noise trained specifically for a given application shows a grade of confidence on the rule base, providing an additional opportunity to measure the quality of the fuzzy rule base. The possibility of modeling a Mamdani-type fuzzy controller as a feedforward neural network with the ability of gradient descent training of the universal defuzzification approximator and antecedent membership functions fulfil the requirement known from multilayer preceptrons in finding solutions to nonlinear separable problems     

用神经网络驱动的模糊推理入侵检测方法

提出了神经网络驱动模糊推理的入侵检测方法,利用神经网络的学习能力,对不清楚规则的复杂系统的输入输出特性进行适当的非线性划分,自动形成舰则集和相应的隶属关系,克服了在多维空间上经验性的确定隶属函数的困难。对于神经网络的训练数据,采用人工数据,克服了神经网络监督学习和获取已知输出的训练数据的困难。试验证明,这种技术具有很好的灵敏度和鲁棒性,而且,能够检测出未知的入侵行为。     

应用模糊神经网络预测油田产量

为了研究受多变量、时变和不确定因素影响的油田产量预测问题,将模糊逻辑推理技术与人工神经网络相结合,构建具有模糊逻辑推理和学习功能的模糊神经网络(FNN)系统。该系统基于现有的油田开发历史数据,建立相应的规则集,使用神经网络的训练方法(如梯度下降学习算法),在训练过程中调整参数,并自适应增加规则,以使系统的输出最佳地逼近于目标样本。通过对某油田的实际开发历史数据的拟合与测试,结果表明该模糊神经网络能够较精确地预测未来的油产量,与常规的BP神经网络相比,其预测精度更高、训练速度更快。因此,基于模糊神经网络(FNN)的油田产量预测方法研究具有较好的实际应用价值。     

Incremental supervised learning for mobile robot reactive control

Reactive control for a mobile robot can be defined as a mapping from a perceptual space to a command space. This mapping can be hard-coded by the user (potential fields, fuzzy logic), and can also be learnt. This paper is concerned with supervised learning for perception to action mapping for a mobile robot. Among the existing neural approaches for supervised learning of a function, we have selected the grow and learn network for its properties adapted to robotic problems: incrementality and flexible structure. We will present the results we have obtained with this network using first raw sensor data and then pre-processed measures with the automatic construction of virtual sensors.     

Fuzzy wavelet networks for function learning

Inspired by the theory of multiresolution analysis (MRA) of wavelet transforms and fuzzy concepts, a fuzzy wavelet network (FWN) is proposed for approximating arbitrary nonlinear functions. The FWN consists of a set of fuzzy rules. Each rule corresponding to a sub-wavelet neural network (WNN) consists of single-scaling wavelets. Through efficient bases selection, the dimension of the approximated function does not cause the bottleneck for constructing FWN. Especially, by learning the translation parameters of the wavelets and adjusting the shape of membership functions, the model accuracy and the generalization capability of the FWN can be remarkably improved. Furthermore, an algorithm for constructing and training the fuzzy wavelet networks is proposed. Simulation examples are also given to illustrate the effectiveness of the method     

A fuzzy curved search algorithm for neural network learning

In this paper, we develop a curved search algorithm which uses second-order information, for the learning algorithm for a supervised neural network. With the objective of reducing the training time, we introduce a fuzzy controller for adjusting the first and second-order approximation parameters in the iterative method to further reduce the training time and to avoid the spikes in the learning curve which sometimes occurred with the fixed step length. Computational results indicate a significant reduction in training when comparing with the delta learning rule.     

基于模糊神经网络的人工鱼虚拟味觉系统研究

本文设计了在智能虚拟环境下人工鱼的一种虚拟味觉系统.利用模糊神经网络实现了鱼儿对食物的学习记忆算法.模糊神经网络由于同时具备了模糊逻辑对规则的表达能力以及神经网络的学习能力,非常适合解决虚拟环境中味觉的信号识别问题,经实验验证是切实可行的.基于模糊神经网络的味觉系统的研究和实现为人工鱼多感知融合系统提供了基础.     

A TSK-type recurrent fuzzy network for dynamic systems processingby neural network and genetic algorithms

In this paper, a TSK-type recurrent fuzzy network (TRFN) structure is proposed. The proposal calls for the design of TRFN by either neural network or genetic algorithms depending on the learning environment. A recurrent fuzzy network is described which develops from a series of recurrent fuzzy if-then rules with TSK-type consequent parts. The recurrent property comes from feeding the internal variables, derived from fuzzy firing strengths, back to both the network input and output layers. In this configuration, each internal variable is responsible for memorizing the temporal history of its corresponding fuzzy rule. The internal variable is also combined with external input variables in each rule's consequence, which shows an increase in network learning ability. TRFN design under different learning environments is next advanced. For problems where supervised training data is directly available, TRFN with supervised learning (TRFN-S) is proposed, and a neural network (NN) learning approach is adopted for TRFN-S design. An online learning algorithm with concurrent structure and parameter learning is proposed. With flexibility of partition in the precondition part, and outcome of TSK-type, the TRFN-S displays both small network size and high learning accuracy. For problems where gradient information for NN learning is costly to obtain or unavailable, like reinforcement learning, TRFN with Genetic learning (TRFN-G) is put forward. The precondition parts of TRFN-G are also partitioned in a flexible way, and all free parameters are designed concurrently by genetic algorithm. Owing to the well-designed network structure of TRFN, TRFN-G, like TRFN-S, is characterized by high learning accuracy. To demonstrate the superior properties of TRFN, TRFN-S is applied to dynamic system identification and TRFN-G to dynamic system control. By comparing the results to other types of recurrent networks and design configurations, the efficiency of TRFN is verified     

A reinforcement learning approach based on the fuzzy min-max neural network

The fuzzy min-max neural network constitutes a neural architecture that is based on hyperbox fuzzy sets and can be incrementally trained by appropriately adjusting the number of hyperboxes and their corresponding volumes. Two versions have been proposed: for supervised and unsupervised learning. In this paper a modified approach is presented that is appropriate for reinforcement learning problems with discrete action space and is applied to the difficult task of autonomous vehicle navigation when no a priori knowledge of the enivronment is available. Experimental results indicate that the proposed reinforcement learning network exhibits superior learning behavior compared to conventional reinforcement schemes.     

复杂工业过程的遗传模糊神经网络控制

本文提出一种基于遗传算法和监督学习方法的有效模糊神经网络控制，这种控制器采用并行处理的推理网络，具有两个重要特点：自适应和学习性，所提方法经过仿真和温控验证表明控制性能良好。     

A parallel fuzzy inference model with distributed prediction schemefor reinforcement learning

This paper proposes a three-layered parallel fuzzy inference model called reinforcement fuzzy neural network with distributed prediction scheme (RFNN-DPS), which performs reinforcement learning with a novel distributed prediction scheme. In RFNN-DPS, an additional predictor for predicting the external reinforcement signal is not necessary, and the internal reinforcement information is distributed into fuzzy rules (rule nodes). Therefore, using RFNN-DPS, only one network is needed to construct a fuzzy logic system with the abilities of parallel inference and reinforcement learning. Basically, the information for prediction in RFNN-DPS is composed of credit values stored in fuzzy rule nodes, where each node holds a credit vector to represent the reliability of the corresponding fuzzy rule. The credit values are not only accessed for predicting external reinforcement signals, but also provide a more profitable internal reinforcement signal to each fuzzy rule itself. RFNN-DPS performs a credit-based exploratory algorithm to adjust its internal status according to the internal reinforcement signal. During learning, the RFNN-DPS network is constructed by a single-step or multistep reinforcement learning algorithm based on the ART concept. According to our experimental results, RFNN-DPS shows the advantages of simple network structure, fast learning speed, and explicit representation of rule reliability.     

On the design of neural-fuzzy control system

This article presents a neural–network-based fuzzy logic control (NN–FLC) system. The NN–FLC model has the learning capabilities for constructing membership functions and extracting fuzzy rules from training examples. Both unsupervised and supervised training algorithms are used to find the membership functions of the FLC. Competitive learning algorithms are employed to evaluate fuzzy logic rules. Matlab programs using both neural and fuzzy toolboxes are developed to implement the NN–FLC model. Computer simulations of the inverted pendulum controlled by NN–FLC system were conducted to illustrate the self-learning ability of the network. © 1998 John Wiley & Sons, Inc.13: 11–26, 1998     

Heuristic constraints enforcement for training of and knowledgeextraction from a fuzzy/neural architecture. I. Foundation

Using fuzzy/neural architectures to extract heuristic information from systems has received increasing attention. A number of fuzzy/neural architectures and knowledge extraction methods have been proposed. Knowledge extraction from systems where the existing knowledge limited is a difficult task. One of the reasons is that there is no ideal rulebase, which can be used to validate the extracted rules. In most of the cases, using output error measures to validate extracted rules is not sufficient as extracted knowledge may not make heuristic sense, even if the output error may meet the specified criteria. The paper proposes a novel method for enforcing heuristic constraints on membership functions for rule extraction from a fuzzy/neural architecture. The proposed method not only ensures that the final membership functions conform to a priori heuristic knowledge, but also reduces the domain of search of the training and improves convergence speed. Although the method is described on a specific fuzzy/neural architecture, it is applicable to other realizations, including adaptive or static fuzzy inference systems. The foundations of the proposed method are given in Part I. The techniques for implementation and integration into the training are given in Part II, together with applications     

Evolutionary learning of rule premises for fuzzy modelling

The task of fuzzy modelling involves specification of rule antecedents and determination of their consequent counterparts. Rule premises appear here a critical issue since they determine the structure of a rule base. This paper proposes a new approach to extracting fuzzy rules from training examples by means of genetic-based premise learning. In order to construct a 'parsimonious' fuzzy model with high generalization ability, general premise structure allowing incomplete compositions of input variables as well as OR connectives of linguistic terms is considered. A genetic algorithm is utilized to optimize both the premise structure of rules and fuzzy set membership functions at the same time. Determination of rule conclusions is nested in the premise learning, where consequences of individual rules are determined under fixed preconditions. The proposed method was applied to the well-known gas furnace data of Box and Jenkins to show its validity and to compare its performance with those of other works.     

未知环境中移动机器人柔性行为决策的调节发育学习

未知环境中移动机器人柔性的行为决策是完成各种任务的前提.目前的机器人行为决策方法在面对动态变化的环境时柔性较差,机器人难以获得持续稳定的学习能力.本文作者曾尝试通过集成小脑监督学习和基底神经节的强化学习来实现移动机器人动态环境下的柔性行为决策,但所提算法适应动态环境的能力有限.在前期工作基础上,本文设计了更有生物学意义的好奇度指标代替原来的警觉度指标,通过模拟蓝斑活动在基音模式和阶段模式之间的动态切换,实现移动机器人环境探索–利用的动态自适应调节.同时,设计随外部环境变化的自适应调节因子,实现移动机器人动态环境中基于小脑监督学习和基底神经节强化学习的柔性行为决策,使机器人可以获得持续稳定的学习能力.动态环境和实际环境中的实验结果验证了本文所提算法的有效性.